OpenRaiser/Intern-Atlas huggingface dataset:
A RISC-V Simulator and Benchmark Suite for Designing and Evaluating Vector Architectures
Venue: arXiv cs.AR 2021
Year: 2021

Vector architectures lack tools for research. Consider the gem5 simulator, which is possibly the leading platform for computer-system architecture research. Unfortunately, gem5 does not have an available distribution that includes a flexible and customizable vector architecture model. In consequence, researchers have to develop their own simulation platform to test their ideas, which consume much research time. However, once the base simulator platform is developed, another question is the following: Which applications should be tested to perform the experiments? The lack of Vectorized Benchmark Suites is another limitation. To face these problems, this work presents a set of tools for designing and evaluating vector architectures. First, the gem5 simulator was extended to support the execution of RISC-V Vector instructions by adding a parameterizable Vector Architecture model for designers to evaluate different approaches according to the target they pursue. Second, a novel Vectorized Benchmark Suite is presented: a collection composed of seven data-parallel applications from different domains that can be classified according to the modules that are stressed in the vector architecture. Finally, a study of the Vectorized Benchmark Suite executing on the gem5-based Vector Architecture model is highlighted. This suite is the first in its category that covers the different possible usage scenarios that may occur within different vector architecture designs such as embedded systems, mainly focused on short vectors, or High-Performance-Computing (HPC), usually designed for large vectors.
OpenPrompt: An Open-source Framework for Prompt-learning
Venue: arXiv cs.CL 2021
Year: 2021

Prompt-learning has become a new paradigm in modern natural language processing, which directly adapts pre-trained language models (PLMs) to $cloze$-style prediction, autoregressive modeling, or sequence to sequence generation, resulting in promising performances on various tasks. However, no standard implementation framework of prompt-learning is proposed yet, and most existing prompt-learning codebases, often unregulated, only provide limited implementations for specific scenarios. Since there are many details such as templating strategy, initializing strategy, and verbalizing strategy, etc. need to be considered in prompt-learning, practitioners face impediments to quickly adapting the desired prompt learning methods to their applications. In this paper, we present {OpenPrompt}, a unified easy-to-use toolkit to conduct prompt-learning over PLMs. OpenPrompt is a research-friendly framework that is equipped with efficiency, modularity, and extendibility, and its combinability allows the freedom to combine different PLMs, task formats, and prompting modules in a unified paradigm. Users could expediently deploy prompt-learning frameworks and evaluate the generalization of them on different NLP tasks without constraints. OpenPrompt is publicly released at {\url{ https://github.com/thunlp/OpenPrompt}}.
Approximate Gomory-Hu Tree Is Faster Than $n-1$ Max-Flows
Venue: arXiv cs.DS 2021
Year: 2021

The Gomory-Hu tree or cut tree (Gomory and Hu, 1961) is a classic data structure for reporting $(s,t)$ mincuts (and by duality, the values of $(s,t)$ maxflows) for all pairs of vertices $s$ and $t$ in an undirected graph. Gomory and Hu showed that it can be computed using $n-1$ exact maxflow computations. Surprisingly, this remains the best algorithm for Gomory-Hu trees more than 50 years later, *even for approximate mincuts*. In this paper, we break this longstanding barrier and give an algorithm for computing a $(1+ε)$-approximate Gomory-Hu tree using $\text{polylog}(n)$ maxflow computations. Specifically, we obtain the runtime bounds we describe below. We obtain a randomized (Monte Carlo) algorithm for undirected, weighted graphs that runs in $\tilde O(m + n^{3/2})$ time and returns a $(1+ε)$-approximate Gomory-Hu tree algorithm w.h.p. Previously, the best running time known was $\tilde O(n^{5/2})$, which is obtained by running Gomory and Hu's original algorithm on a cut sparsifier of the graph. Next, we obtain a randomized (Monte Carlo) algorithm for undirected, unweighted graphs that runs in $m^{4/3+o(1)}$ time and returns a $(1+ε)$-approximate Gomory-Hu tree algorithm w.h.p. This improves on our first result for sparse graphs, namely $m = o(n^{9/8})$. Previously, the best running time known for unweighted graphs was $\tilde O(mn)$ for an exact Gomory-Hu tree (Bhalgat et al., STOC 2007); no better result was known if approximations are allowed. As a consequence of our Gomory-Hu tree algorithms, we also solve the $(1+ε)$-approximate all pairs mincut and single source mincut problems in the same time bounds. (These problems are simpler in that the goal is to only return the $(s,t)$ mincut values, and not the mincuts.) This improves on the recent algorithm for these problems in $\tilde O(n^2)$ time due to Abboud et al. (FOCS 2020).
Recent Advancements in Self-Supervised Paradigms for Visual Feature Representation
Venue: arXiv cs.CV 2021
Year: 2021

We witnessed a massive growth in the supervised learning paradigm in the past decade. Supervised learning requires a large amount of labeled data to reach state-of-the-art performance. However, labeling the samples requires a lot of human annotation. To avoid the cost of labeling data, self-supervised methods were proposed to make use of largely available unlabeled data. This study conducts a comprehensive and insightful survey and analysis of recent developments in the self-supervised paradigm for feature representation. In this paper, we investigate the factors affecting the usefulness of self-supervision under different settings. We present some of the key insights concerning two different approaches in self-supervision, generative and contrastive methods. We also investigate the limitations of supervised adversarial training and how self-supervision can help overcome those limitations. We then move on to discuss the limitations and challenges in effectively using self-supervision for visual tasks. Finally, we highlight some open problems and point out future research directions.
Deep Point Set Resampling via Gradient Fields
Venue: arXiv cs.CV 2021
Year: 2021

3D point clouds acquired by scanning real-world objects or scenes have found a wide range of applications including immersive telepresence, autonomous driving, surveillance, etc. They are often perturbed by noise or suffer from low density, which obstructs downstream tasks such as surface reconstruction and understanding. In this paper, we propose a novel paradigm of point set resampling for restoration, which learns continuous gradient fields of point clouds that converge points towards the underlying surface. In particular, we represent a point cloud via its gradient field -- the gradient of the log-probability density function, and enforce the gradient field to be continuous, thus guaranteeing the continuity of the model for solvable optimization. Based on the continuous gradient fields estimated via a proposed neural network, resampling a point cloud amounts to performing gradient-based Markov Chain Monte Carlo (MCMC) on the input noisy or sparse point cloud. Further, we propose to introduce regularization into the gradient-based MCMC during point cloud restoration, which essentially refines the intermediate resampled point cloud iteratively and accommodates various priors in the resampling process. Extensive experimental results demonstrate that the proposed point set resampling achieves the state-of-the-art performance in representative restoration tasks including point cloud denoising and upsampling.
An adaptive recursive sliding mode attitude control for tiltrotor UAV in flight mode transition based on super-twisting extended state observer
Venue: arXiv cs.RO 2021
Year: 2021

With the characteristics of vertical take-off and landing and long endurance, tiltrotor has attracted considerable attention in recent decades for its potential applications in civil and scientific research. However, the problems of strong couplings, nonlinear characteristics and mismatched disturbances inevitably exist in the tiltrotor, which bring great challenges to the controller design in transition mode. In this paper, we combined a super-twisting extended state observer (STESO) with an adaptive recursive sliding mode control (ARSMC) together to design a tiltrotor aircraft attitude system controller in transition mode using STESO-ARSMC (SAC). Firstly, the six degrees of freedom (DOF) nonlinear mathematical model of tiltrotor is established. Secondly, the states and disturbances are estimated by the STES observer. Thirdly, ARSM controller is designed to achieve finite time convergence. The Lyapunov function is used to testify the convergence of the tiltrotor UAV system. The new aspect is that the assessments of the states are incorporated into the control rules to adjust for disruptions. When compared to prior techniques, the control system proposed in this work can considerably enhance anti-disturbance performance. Finally, simulation tests are used to demonstrate the efficacy of the suggested technique.
A Novel Actuation Strategy for an Agile Bio-inspired FWAV Performing a Morphing-coupled Wingbeat Pattern
Venue: arXiv cs.RO 2021
Year: 2021

Flying vertebrates exhibit sophisticated wingbeat kinematics. Their specialized forelimbs allow for the wing morphing motion to couple with the flapping motion during their level flight, Previous flyable bionic platforms have successfully applied bio-inspired wing morphing but cannot yet be propelled by the morphing-coupled wingbeat pattern. Spurred by this, we develop a bio-inspired flapping-wing aerial vehicle (FWAV) entitled RoboFalcon, which is equipped with a novel mechanism to drive the bat-style morphing wings, performs a morphing-coupled wingbeat pattern, and overall manages an appealing flight. The novel mechanism of RoboFalcon allows coupling the morphing and flapping during level flight and decoupling these when maneuvering is required, producing a bilateral asymmetric downstroke affording high rolling agility. The bat-style morphing wing is designed with a tilted mounting angle around the radius at the wrist joint to mimic the wrist supination and pronation effect of flying vertebrates' forelimbs. The agility of RoboFalcon is assessed through several rolling maneuver flight tests, and we demonstrate its well-performing agility capability compared to flying creatures and current flapping-wing platforms. Wind tunnel tests indicate that the roll moment of the asymmetric downstroke is correlated with the flapping frequency, and the wrist mounting angle can be used for tuning the angle of attack and lift-thrust configuration of the equilibrium flight state. We believe that this work yields a well-performing bionic platform and provides a new actuation strategy for the morphing-coupled flapping flight.
Deployment Optimization for Shared e-Mobility Systems with Multi-agent Deep Neural Search
Venue: arXiv cs.AI 2021
Year: 2021

Shared e-mobility services have been widely tested and piloted in cities across the globe, and already woven into the fabric of modern urban planning. This paper studies a practical yet important problem in those systems: how to deploy and manage their infrastructure across space and time, so that the services are ubiquitous to the users while sustainable in profitability. However, in real-world systems evaluating the performance of different deployment strategies and then finding the optimal plan is prohibitively expensive, as it is often infeasible to conduct many iterations of trial-and-error. We tackle this by designing a high-fidelity simulation environment, which abstracts the key operation details of the shared e-mobility systems at fine-granularity, and is calibrated using data collected from the real-world. This allows us to try out arbitrary deployment plans to learn the optimal given specific context, before actually implementing any in the real-world systems. In particular, we propose a novel multi-agent neural search approach, in which we design a hierarchical controller to produce tentative deployment plans. The generated deployment plans are then tested using a multi-simulation paradigm, i.e., evaluated in parallel, where the results are used to train the controller with deep reinforcement learning. With this closed loop, the controller can be steered to have higher probability of generating better deployment plans in future iterations. The proposed approach has been evaluated extensively in our simulation environment, and experimental results show that it outperforms baselines e.g., human knowledge, and state-of-the-art heuristic-based optimization approaches in both service coverage and net revenue.
Image-Guided Navigation of a Robotic Ultrasound Probe for Autonomous Spinal Sonography Using a Shadow-aware Dual-Agent Framework
Venue: arXiv cs.RO 2021
Year: 2021

Ultrasound (US) imaging is commonly used to assist in the diagnosis and interventions of spine diseases, while the standardized US acquisitions performed by manually operating the probe require substantial experience and training of sonographers. In this work, we propose a novel dual-agent framework that integrates a reinforcement learning (RL) agent and a deep learning (DL) agent to jointly determine the movement of the US probe based on the real-time US images, in order to mimic the decision-making process of an expert sonographer to achieve autonomous standard view acquisitions in spinal sonography. Moreover, inspired by the nature of US propagation and the characteristics of the spinal anatomy, we introduce a view-specific acoustic shadow reward to utilize the shadow information to implicitly guide the navigation of the probe toward different standard views of the spine. Our method is validated in both quantitative and qualitative experiments in a simulation environment built with US data acquired from 17 volunteers. The average navigation accuracy toward different standard views achieves 5.18mm/5.25deg and 12.87mm/17.49deg in the intra- and inter-subject settings, respectively. The results demonstrate that our method can effectively interpret the US images and navigate the probe to acquire multiple standard views of the spine.
Fair Mutual Exclusion for N Processes (extended version)
Venue: arXiv cs.LO 2021
Year: 2021

Peterson's mutual exclusion algorithm for two processes has been generalized to $N$ processes in various ways. As far as we know, no such generalization is starvation free without making any fairness assumptions. In this paper, we study the generalization of Peterson's algorithm to $N$ processes using a tournament tree. Using the mCRL2 language and toolset we prove that it is not starvation free unless weak fairness assumptions are incorporated. Inspired by the counterexample for starvation freedom, we propose a fair $N$-process generalization of Peterson's algorithm. We use model checking to show that our new algorithm is correct for small $N$. For arbitrary $N$, model checking is infeasible due to the state space explosion problem, and instead, we present a general proof that, for $N \geq 4$, when a process requests access to the critical section, other processes can enter first at most $(N-1)(N-2)$ times.
Multi-Cue Adaptive Emotion Recognition Network
Venue: arXiv cs.CV 2021
Year: 2021

Expressing and identifying emotions through facial and physical expressions is a significant part of social interaction. Emotion recognition is an essential task in computer vision due to its various applications and mainly for allowing a more natural interaction between humans and machines. The common approaches for emotion recognition focus on analyzing facial expressions and requires the automatic localization of the face in the image. Although these methods can correctly classify emotion in controlled scenarios, such techniques are limited when dealing with unconstrained daily interactions. We propose a new deep learning approach for emotion recognition based on adaptive multi-cues that extract information from context and body poses, which humans commonly use in social interaction and communication. We compare the proposed approach with the state-of-art approaches in the CAER-S dataset, evaluating different components in a pipeline that reached an accuracy of 89.30%
A Self-adaptive LSAC-PID Approach based on Lyapunov Reward Shaping for Mobile Robots
Venue: arXiv cs.RO 2021
Year: 2021

To solve the coupling problem of control loops and the adaptive parameter tuning problem in the multi-input multi-output (MIMO) PID control system, a self-adaptive LSAC-PID algorithm is proposed based on deep reinforcement learning (RL) and Lyapunov-based reward shaping in this paper. For complex and unknown mobile robot control environment, an RL-based MIMO PID hybrid control strategy is firstly presented. According to the dynamic information and environmental feedback of the mobile robot, the RL agent can output the optimal MIMO PID parameters in real time, without knowing mathematical model and decoupling multiple control loops. Then, to improve the convergence speed of RL and the stability of mobile robots, a Lyapunov-based reward shaping soft actor-critic (LSAC) algorithm is proposed based on Lyapunov theory and potential-based reward shaping method. The convergence and optimality of the algorithm are proved in terms of the policy evaluation and improvement step of soft policy iteration. In addition, for line-following robots, the region growing method is improved to adapt to the influence of forks and environmental interference. Through comparison, test and cross-validation, the simulation and real-environment experimental results all show good performance of the proposed LSAC-PID tuning algorithm.
STC speaker recognition systems for the NIST SRE 2021
Venue: arXiv cs.SD 2021
Year: 2021

This paper presents a description of STC Ltd. systems submitted to the NIST 2021 Speaker Recognition Evaluation for both fixed and open training conditions. These systems consists of a number of diverse subsystems based on using deep neural networks as feature extractors. During the NIST 2021 SRE challenge we focused on the training of the state-of-the-art deep speaker embeddings extractors like ResNets and ECAPA networks by using additive angular margin based loss functions. Additionally, inspired by the recent success of the wav2vec 2.0 features in automatic speech recognition we explored the effectiveness of this approach for the speaker verification filed. According to our observation the fine-tuning of the pretrained large wav2vec 2.0 model provides our best performing systems for open track condition. Our experiments with wav2vec 2.0 based extractors for the fixed condition showed that unsupervised autoregressive pretraining with Contrastive Predictive Coding loss opens the door to training powerful transformer-based extractors from raw speech signals. For video modality we developed our best solution with RetinaFace face detector and deep ResNet face embeddings extractor trained on large face image datasets. The final results for primary systems were obtained by different configurations of subsystems fusion on the score level followed by score calibration.
A Comparison of Deep Learning Models for the Prediction of Hand Hygiene Videos
Venue: arXiv cs.CV 2021
Year: 2021

This paper presents a comparison of various deep learning models such as Exception, Resnet-50, and Inception V3 for the classification and prediction of hand hygiene gestures, which were recorded in accordance with the World Health Organization (WHO) guidelines. The dataset consists of six hand hygiene movements in a video format, gathered for 30 participants. The network consists of pre-trained models with image net weights and a modified head of the model. An accuracy of 37% (Xception model), 33% (Inception V3), and 72% (ResNet-50) is achieved in the classification report after the training of the models for 25 epochs. ResNet-50 model clearly outperforms with correct class predictions. The major speed limitation can be overcome with the use of fast processing GPU for future work. A complete hand hygiene dataset along with other generic gestures such as one-hand movements (linear hand motion; circular hand rotation) will be tested with ResNet-50 architecture and the variants for health care workers.
A Survey of Machine Learning Algorithms for Detecting Malware in IoT Firmware
Venue: arXiv cs.LG 2021
Year: 2021

This work explores the use of machine learning techniques on an Internet-of-Things firmware dataset to detect malicious attempts to infect edge devices or subsequently corrupt an entire network. Firmware updates are uncommon in IoT devices; hence, they abound with vulnerabilities. Attacks against such devices can go unnoticed, and users can become a weak point in security. Malware can cause DDoS attacks and even spy on sensitive areas like peoples' homes. To help mitigate this threat, this paper employs a number of machine learning algorithms to classify IoT firmware and the best performing models are reported. In a general comparison, the top three algorithms are Gradient Boosting, Logistic Regression, and Random Forest classifiers. Deep learning approaches including Convolutional and Fully Connected Neural Networks with both experimental and proven successful architectures are also explored.
Evaluation of Tree Based Regression over Multiple Linear Regression for Non-normally Distributed Data in Battery Performance
Venue: arXiv cs.LG 2021
Year: 2021

Battery performance datasets are typically non-normal and multicollinear. Extrapolating such datasets for model predictions needs attention to such characteristics. This study explores the impact of data normality in building machine learning models. In this work, tree-based regression models and multiple linear regressions models are each built from a highly skewed non-normal dataset with multicollinearity and compared. Several techniques are necessary, such as data transformation, to achieve a good multiple linear regression model with this dataset; the most useful techniques are discussed. With these techniques, the best multiple linear regression model achieved an R^2 = 81.23% and exhibited no multicollinearity effect for the dataset used in this study. Tree-based models perform better on this dataset, as they are non-parametric, capable of handling complex relationships among variables and not affected by multicollinearity. We show that bagging, in the use of Random Forests, reduces overfitting. Our best tree-based model achieved accuracy of R^2 = 97.73%. This study explains why tree-based regressions promise as a machine learning model for non-normally distributed, multicollinear data.
Performance Analysis under IRS-User Association for Distributed IRSs Assisted MISO Systems
Venue: arXiv cs.IT 2021
Year: 2021

Distributed intelligent reflecting surfaces (IRSs) deployed in multi-user wireless communication systems promise improved system performance. However, the signal-to-interference-plus-noise ratio (SINR) analysis and IRSs optimization in such a system become challenging, due to the large number of involved parameters. The system optimization can be simplified if users are associated with IRSs, which in turn focus on serving the associated users. We provide a practical theoretical framework for the average SINR analysis of a distributed IRSs-assisted multi-user MISO system, where IRSs are optimized to serve their associated users. In particular, we derive the average SINR expression under maximum ratio transmission (MRT) precoding at the BS and optimized reflect beamforming configurations at the IRSs. A successive refinement (SR) method is then outlined to optimize the IRS-user association parameters for the formulated max-min SINR problem which motivates user-fairness. Simulations validate the average SINR analysis while confirming the superiority of a distributed IRSs system over a centralized IRS system as well as the gains with optimized IRS-user association as compared to random association.